Team 1658 prototype flying inverse differential(gyro-encabulator) bi-swerve

[sanelss]

Originally Posted by nuclearnerd

What algorithm are you using to choose the motor speeds? Lets say you want to speed up the right side. You could speed up the top motor, slow down (or reverse) the bottom motor, or some combination of the two. How do you avoid running either motor at an inefficient part of its range (such as stalling one while the other runs flat out)? Just curious.

still working on it but with the previous test we did my approach was as such:

the top cims are the reference motors, they always run just about full out but still PID speed controlled(so lets say 1k rpms) but that's completely up to us and arbitrary depending how much total power we want available. i will try to remove this though and just have them be full forward or full reverse without needing the extra control here. As you said there are a variety of ways to control this and we are still researching. Not sure how well that will work but will see. then the opposite side is variable speed to give us the speed we want from the output. with some simple math(just the average of the two inputs) we can get any output speed we want. so currently each cim is being speed(or position) PID controlled. We made half a bot work and currently in the process of making the whole bot work. Whole point of doing it is to see just how well and effective this design can be, it may or may not be favorable and that's why we're doing it, to find out!